A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism
Published: Jun 1, 2012
Abstract
This paper introduces an originally designed wheelchair robot equipped with a novel type of Variable Geometry Single Tracked Mechanism (VGSTM) that can actively control the robot shape and the track tension. So it becomes possible to improve the obstacle clearing capability of the robot by adapting the robot shape for the obstacle. Tip-over and slippage for track typed mobile robots are intractable problems especially in stair-climbing, which is...
Paper Details
Title
A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism
Published Date
Jun 1, 2012
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